A new tracking walking adaptive control of uncertain biped robot by state feedback and output feedback

Brahim Brahmi; Mohammad Habibur Rahman; Claude El-Bayeh; Mohamed Hamza Laraki

doi:10.1007/s40435-021-00791-7

A new tracking walking adaptive control of uncertain biped robot by state feedback and output feedback

Brahim Brahmi^*
, Mohammad Habibur Rahman
, Claude El-Bayeh
, Mohamed Hamza Laraki

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

In this paper, a walking algorithm of a biped robot with unknown dynamics has been addressed by proposing a new adaptive control based on the Modified Function Approximation Technique (MFAT) augmented with backstepping control, using state feedback and output feedback. The classical ZMP, the preview controller on the 3- Dimensional Linear Inverted Pendulum Model (3D-LIPM), is a stable walking algorithm but does not allow high accuracy, high speed, and robustness due to the ground environment, and also due to the dynamics uncertainties caused by the complex structure of these kinds of robots. To improve the accuracy of the walking tracking performance of the biped robot and its robustness against dynamics uncertainty and external perturbations, a combination of backstepping control and MFAT strategy have been intended. Recursive Lyapunov function is developed to ensure the closed-loop system stability. Experiment simulation and comparative study were carried out with biped robot to verify the performance and the robustness of the developed control strategy.

Original language	English
Pages (from-to)	243-259
Number of pages	17
Journal	International Journal of Dynamics and Control
Volume	10
Issue number	1
DOIs	https://doi.org/10.1007/s40435-021-00791-7
State	Published - Feb 2022
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 2021, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

Keywords

Backstepping control control
Biped robot
Function approximation technique
State observer

ASJC Scopus subject areas

Control and Systems Engineering
Civil and Structural Engineering
Modeling and Simulation
Mechanical Engineering
Control and Optimization
Electrical and Electronic Engineering

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10.1007/s40435-021-00791-7

Cite this

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title = "A new tracking walking adaptive control of uncertain biped robot by state feedback and output feedback",

abstract = "In this paper, a walking algorithm of a biped robot with unknown dynamics has been addressed by proposing a new adaptive control based on the Modified Function Approximation Technique (MFAT) augmented with backstepping control, using state feedback and output feedback. The classical ZMP, the preview controller on the 3- Dimensional Linear Inverted Pendulum Model (3D-LIPM), is a stable walking algorithm but does not allow high accuracy, high speed, and robustness due to the ground environment, and also due to the dynamics uncertainties caused by the complex structure of these kinds of robots. To improve the accuracy of the walking tracking performance of the biped robot and its robustness against dynamics uncertainty and external perturbations, a combination of backstepping control and MFAT strategy have been intended. Recursive Lyapunov function is developed to ensure the closed-loop system stability. Experiment simulation and comparative study were carried out with biped robot to verify the performance and the robustness of the developed control strategy.",

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PY - 2022/2

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N2 - In this paper, a walking algorithm of a biped robot with unknown dynamics has been addressed by proposing a new adaptive control based on the Modified Function Approximation Technique (MFAT) augmented with backstepping control, using state feedback and output feedback. The classical ZMP, the preview controller on the 3- Dimensional Linear Inverted Pendulum Model (3D-LIPM), is a stable walking algorithm but does not allow high accuracy, high speed, and robustness due to the ground environment, and also due to the dynamics uncertainties caused by the complex structure of these kinds of robots. To improve the accuracy of the walking tracking performance of the biped robot and its robustness against dynamics uncertainty and external perturbations, a combination of backstepping control and MFAT strategy have been intended. Recursive Lyapunov function is developed to ensure the closed-loop system stability. Experiment simulation and comparative study were carried out with biped robot to verify the performance and the robustness of the developed control strategy.

AB - In this paper, a walking algorithm of a biped robot with unknown dynamics has been addressed by proposing a new adaptive control based on the Modified Function Approximation Technique (MFAT) augmented with backstepping control, using state feedback and output feedback. The classical ZMP, the preview controller on the 3- Dimensional Linear Inverted Pendulum Model (3D-LIPM), is a stable walking algorithm but does not allow high accuracy, high speed, and robustness due to the ground environment, and also due to the dynamics uncertainties caused by the complex structure of these kinds of robots. To improve the accuracy of the walking tracking performance of the biped robot and its robustness against dynamics uncertainty and external perturbations, a combination of backstepping control and MFAT strategy have been intended. Recursive Lyapunov function is developed to ensure the closed-loop system stability. Experiment simulation and comparative study were carried out with biped robot to verify the performance and the robustness of the developed control strategy.

KW - Backstepping control control

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KW - State observer

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A new tracking walking adaptive control of uncertain biped robot by state feedback and output feedback

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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